(19)

(11)

EP 4 178 768 A1

(12)

(43) Date of publication: 17.05.2023 Bulletin 2023/20 (21) Application number: 21782611.4 (22) Date of filing: 08.07.2021

(51) International Patent Classification (IPC):  B25J 9/00(2006.01) B25J 21/00(2006.01) B25J 9/02(2006.01) B25J 9/08(2006.01) (52) Cooperative Patent Classification (CPC): B25J 9/0084; B25J 9/0093; B25J 9/026; B25J 21/00; B25J 9/08 (86) International application number: PCT/US2021/040922 (87) International publication number: WO 2022/011162 (13.01.2022 Gazette 2022/02)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (30) Priority: 08.07.2020 US 202063049416 P (71) Applicant: Milara Incorporated Milford, MA 01757 (US)

(72) Inventors: PETKOV, Krassimir D. Medway, MA 02053 (US) DERIC, Velimir Franklin, MA 02038 (US) KRASTEV, George Milford, MA 01757 (US) KEFILEV, Radoslav A. Chepelare City (BG) SINAPOV, Sabin I. Velingrad City (BG) KAMENAROV, Plamen Plovdiv (BG) OLIVERA, Haniel Fitchburg, MA 01420 (US) (74) Representative: Sweetinburgh, Mark Roger et al Sweetinburgh & Windsor Churchill Court 3 Manor Royal Crawley, West Sussex RH10 9LU Crawley, West Sussex RH10 9LU (GB)